In this study, we present a knee exoskeleton that assists weight acceptance in walking, sit-to-stand and stair ascending. Working principle of the exoskeleton device is inspired from the bio-mechanical data of natural human gait, sit to stance and stair ascent motions. First, we analyze the natural gait data to identify the weight acceptance behavior of the knee joint. Then we build a model for sit to stand motion with an elastic element. After that, stair ascent data is analyzed in a similar manner. Then, we define the appropriate elastic elements, their coefficients and motor requirements if necessary, for these specific tasks. Finally, we present the CAD model of the proposed knee exoskeleton.
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